diff --git a/results/speed_embedding_ablation/0513_pi05_online_sliding_speed_embed_text_0p5_0p75_1p0_1p25_1p5_1p75_2p0/speed_1p5x/logs/goal_1p5x.log b/results/speed_embedding_ablation/0513_pi05_online_sliding_speed_embed_text_0p5_0p75_1p0_1p25_1p5_1p75_2p0/speed_1p5x/logs/goal_1p5x.log
new file mode 100644
index 0000000000000000000000000000000000000000..ae32ca0d8b77a1f4920b302f6221aef9ee5844ec
--- /dev/null
+++ b/results/speed_embedding_ablation/0513_pi05_online_sliding_speed_embed_text_0p5_0p75_1p0_1p25_1p5_1p75_2p0/speed_1p5x/logs/goal_1p5x.log
@@ -0,0 +1,72 @@
+[robosuite WARNING] No private macro file found! (macros.py:53)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:54)
+[robosuite WARNING] To setup, run: python /usr/local/lib/python3.12/dist-packages/robosuite/scripts/setup_macros.py (macros.py:55)
+Gym has been unmaintained since 2022 and does not support NumPy 2.0 amongst other critical functionality.
+Please upgrade to Gymnasium, the maintained drop-in replacement of Gym, or contact the authors of your software and request that they upgrade.
+See the migration guide at https://gymnasium.farama.org/introduction/migration_guide/ for additional information.
+22:02:01 [rank=1] suite=libero_goal task_ids=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9] n_trials=50 speed=1.5 max_steps=300
+22:02:01 Waiting for server at ws://localhost:8021...
+[info] using task orders [0, 1, 2, 3, 4, 5, 6, 7, 8, 9]
+
rank=1/libero_goal:   0%|          | 0/10 [00:00<?, ?it/s]
rank=1/libero_goal:  10%|█         | 1/10 [05:06<46:00, 306.78s/it]
rank=1/libero_goal:  20%|██        | 2/10 [09:05<35:33, 266.63s/it]
rank=1/libero_goal:  30%|███       | 3/10 [13:55<32:21, 277.33s/it]
rank=1/libero_goal:  40%|████      | 4/10 [22:33<37:14, 372.41s/it]
rank=1/libero_goal:  50%|█████     | 5/10 [26:42<27:18, 327.77s/it]
rank=1/libero_goal:  60%|██████    | 6/10 [34:19<24:47, 371.88s/it]
rank=1/libero_goal:  70%|███████   | 7/10 [38:33<16:40, 333.37s/it]
rank=1/libero_goal:  80%|████████  | 8/10 [42:17<09:57, 298.59s/it]
rank=1/libero_goal:  90%|█████████ | 9/10 [46:07<04:37, 277.06s/it]
rank=1/libero_goal: 100%|██████████| 10/10 [51:20<00:00, 288.00s/it]
rank=1/libero_goal: 100%|██████████| 10/10 [51:20<00:00, 308.01s/it]
+[Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
+[Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
+[Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
+[Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
+[Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
+[Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
+[Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
+[Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
+[Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
+[Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
+[Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
+[Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
+[Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
+[Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
+[Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
+[Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
+[Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
+[Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
+[Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
+[Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
+[rank=1] libero_goal speed=1.5x  success=487/500 (97.4%)  mean_steps_success=87.3 median=71.0  mean_steps_failure=300.0  mean_steps_all=92.8
+[rank=1] elapsed=3080.1s
+[rank=1] wrote /robby/share/Robotics/zhangtianqi/code/VLAwithVariousSpeed/results/speed_embedding_ablation/0513_pi05_online_sliding_speed_embed_text_0p5_0p75_1p0_1p25_1p5_1p75_2p0/speed_1p5x/goal_1p5x.json
+Exception ignored in: <function MjRenderContext.__del__ at 0x7fc4d54a7b00>
+Traceback (most recent call last):
+  File "/usr/local/lib/python3.12/dist-packages/robosuite/utils/binding_utils.py", line 199, in __del__
+    self.gl_ctx.free()
+  File "/usr/local/lib/python3.12/dist-packages/robosuite/renderers/context/egl_context.py", line 149, in free
+    EGL.eglMakeCurrent(EGL_DISPLAY, EGL.EGL_NO_SURFACE, EGL.EGL_NO_SURFACE, EGL.EGL_NO_CONTEXT)
+  File "/usr/local/lib/python3.12/dist-packages/OpenGL/error.py", line 230, in glCheckError
+    raise self._errorClass(
+OpenGL.raw.EGL._errors.EGLError: 22:53:22 Failed to load library ( 'libGLU.so.0' ): libGLU.so.0: cannot open shared object file: No such file or directory
+EGLError(
+	err = EGL_NOT_INITIALIZED,
+	baseOperation = eglMakeCurrent,
+	cArguments = (
+		<OpenGL._opaque.EGLDisplay_pointer object at 0x7fc4babc93d0>,
+		<OpenGL._opaque.EGLSurface_pointer object at 0x7fc4d547c0d0>,
+		<OpenGL._opaque.EGLSurface_pointer object at 0x7fc4d547c0d0>,
+		<OpenGL._opaque.EGLContext_pointer object at 0x7fc4d543d050>,
+	),
+	result = 0
+)
+Exception ignored in: <function EGLGLContext.__del__ at 0x7fc4d54a79c0>
+Traceback (most recent call last):
+  File "/usr/local/lib/python3.12/dist-packages/robosuite/renderers/context/egl_context.py", line 155, in __del__
+    self.free()
+  File "/usr/local/lib/python3.12/dist-packages/robosuite/renderers/context/egl_context.py", line 149, in free
+    EGL.eglMakeCurrent(EGL_DISPLAY, EGL.EGL_NO_SURFACE, EGL.EGL_NO_SURFACE, EGL.EGL_NO_CONTEXT)
+  File "/usr/local/lib/python3.12/dist-packages/OpenGL/error.py", line 230, in glCheckError
+    raise self._errorClass(
+OpenGL.raw.EGL._errors.EGLError: EGLError(
+	err = EGL_NOT_INITIALIZED,
+	baseOperation = eglMakeCurrent,
+	cArguments = (
+		<OpenGL._opaque.EGLDisplay_pointer object at 0x7fc4babc93d0>,
+		<OpenGL._opaque.EGLSurface_pointer object at 0x7fc4d547c0d0>,
+		<OpenGL._opaque.EGLSurface_pointer object at 0x7fc4d547c0d0>,
+		<OpenGL._opaque.EGLContext_pointer object at 0x7fc4d543d050>,
+	),
+	result = 0
+)
diff --git a/results/speed_embedding_ablation/0513_pi05_online_sliding_speed_embed_text_0p5_0p75_1p0_1p25_1p5_1p75_2p0/speed_1p5x/logs/long_t0_1_1p5x.log b/results/speed_embedding_ablation/0513_pi05_online_sliding_speed_embed_text_0p5_0p75_1p0_1p25_1p5_1p75_2p0/speed_1p5x/logs/long_t0_1_1p5x.log
new file mode 100644
index 0000000000000000000000000000000000000000..e748a20478a33162083e68e92814d831d70a8d9e
--- /dev/null
+++ b/results/speed_embedding_ablation/0513_pi05_online_sliding_speed_embed_text_0p5_0p75_1p0_1p25_1p5_1p75_2p0/speed_1p5x/logs/long_t0_1_1p5x.log
@@ -0,0 +1,56 @@
+[robosuite WARNING] No private macro file found! (macros.py:53)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:54)
+[robosuite WARNING] To setup, run: python /usr/local/lib/python3.12/dist-packages/robosuite/scripts/setup_macros.py (macros.py:55)
+Gym has been unmaintained since 2022 and does not support NumPy 2.0 amongst other critical functionality.
+Please upgrade to Gymnasium, the maintained drop-in replacement of Gym, or contact the authors of your software and request that they upgrade.
+See the migration guide at https://gymnasium.farama.org/introduction/migration_guide/ for additional information.
+22:02:01 [rank=3] suite=libero_10 task_ids=[0, 1] n_trials=50 speed=1.5 max_steps=520
+22:02:01 Waiting for server at ws://localhost:8023...
+[info] using task orders [0, 1, 2, 3, 4, 5, 6, 7, 8, 9]
+
rank=3/libero_10:   0%|          | 0/2 [00:00<?, ?it/s]
rank=3/libero_10:  50%|█████     | 1/2 [12:33<12:33, 753.19s/it]
rank=3/libero_10: 100%|██████████| 2/2 [22:52<00:00, 674.61s/it]
rank=3/libero_10: 100%|██████████| 2/2 [22:52<00:00, 686.40s/it]
+[Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
+[Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
+[Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
+[Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
+[rank=3] libero_10 speed=1.5x  success=95/100 (95.0%)  mean_steps_success=207.8 median=200.0  mean_steps_failure=520.0  mean_steps_all=223.4
+[rank=3] elapsed=1372.8s
+[rank=3] wrote /robby/share/Robotics/zhangtianqi/code/VLAwithVariousSpeed/results/speed_embedding_ablation/0513_pi05_online_sliding_speed_embed_text_0p5_0p75_1p0_1p25_1p5_1p75_2p0/speed_1p5x/long_t0_1_1p5x.json
+Exception ignored in: <function MjRenderContext.__del__ at 0x7fab9af97b00>
+Traceback (most recent call last):
+  File "/usr/local/lib/python3.12/dist-packages/robosuite/utils/binding_utils.py", line 199, in __del__
+    self.gl_ctx.free()
+  File "/usr/local/lib/python3.12/dist-packages/robosuite/renderers/context/egl_context.py", line 149, in free
+    EGL.eglMakeCurrent(EGL_DISPLAY, EGL.EGL_NO_SURFACE, EGL.EGL_NO_SURFACE, EGL.EGL_NO_CONTEXT)
+  File "/usr/local/lib/python3.12/dist-packages/OpenGL/error.py", line 230, in glCheckError
+    raise self._errorClass(
+OpenGL.raw.EGL._errors.EGLError: 22:24:54 Failed to load library ( 'libGLU.so.0' ): libGLU.so.0: cannot open shared object file: No such file or directory
+EGLError(
+	err = EGL_NOT_INITIALIZED,
+	baseOperation = eglMakeCurrent,
+	cArguments = (
+		<OpenGL._opaque.EGLDisplay_pointer object at 0x7fab806b36d0>,
+		<OpenGL._opaque.EGLSurface_pointer object at 0x7fab9af6c0d0>,
+		<OpenGL._opaque.EGLSurface_pointer object at 0x7fab9af6c0d0>,
+		<OpenGL._opaque.EGLContext_pointer object at 0x7fab9af2d050>,
+	),
+	result = 0
+)
+Exception ignored in: <function EGLGLContext.__del__ at 0x7fab9af979c0>
+Traceback (most recent call last):
+  File "/usr/local/lib/python3.12/dist-packages/robosuite/renderers/context/egl_context.py", line 155, in __del__
+    self.free()
+  File "/usr/local/lib/python3.12/dist-packages/robosuite/renderers/context/egl_context.py", line 149, in free
+    EGL.eglMakeCurrent(EGL_DISPLAY, EGL.EGL_NO_SURFACE, EGL.EGL_NO_SURFACE, EGL.EGL_NO_CONTEXT)
+  File "/usr/local/lib/python3.12/dist-packages/OpenGL/error.py", line 230, in glCheckError
+    raise self._errorClass(
+OpenGL.raw.EGL._errors.EGLError: EGLError(
+	err = EGL_NOT_INITIALIZED,
+	baseOperation = eglMakeCurrent,
+	cArguments = (
+		<OpenGL._opaque.EGLDisplay_pointer object at 0x7fab806b36d0>,
+		<OpenGL._opaque.EGLSurface_pointer object at 0x7fab9af6c0d0>,
+		<OpenGL._opaque.EGLSurface_pointer object at 0x7fab9af6c0d0>,
+		<OpenGL._opaque.EGLContext_pointer object at 0x7fab9af2d050>,
+	),
+	result = 0
+)
diff --git a/results/speed_embedding_ablation/0513_pi05_online_sliding_speed_embed_text_0p5_0p75_1p0_1p25_1p5_1p75_2p0/speed_1p5x/logs/long_t2_3_1p5x.log b/results/speed_embedding_ablation/0513_pi05_online_sliding_speed_embed_text_0p5_0p75_1p0_1p25_1p5_1p75_2p0/speed_1p5x/logs/long_t2_3_1p5x.log
new file mode 100644
index 0000000000000000000000000000000000000000..4ba19b6d3b020fd8baa629b298508c68c7bf9310
--- /dev/null
+++ b/results/speed_embedding_ablation/0513_pi05_online_sliding_speed_embed_text_0p5_0p75_1p0_1p25_1p5_1p75_2p0/speed_1p5x/logs/long_t2_3_1p5x.log
@@ -0,0 +1,56 @@
+[robosuite WARNING] No private macro file found! (macros.py:53)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:54)
+[robosuite WARNING] To setup, run: python /usr/local/lib/python3.12/dist-packages/robosuite/scripts/setup_macros.py (macros.py:55)
+Gym has been unmaintained since 2022 and does not support NumPy 2.0 amongst other critical functionality.
+Please upgrade to Gymnasium, the maintained drop-in replacement of Gym, or contact the authors of your software and request that they upgrade.
+See the migration guide at https://gymnasium.farama.org/introduction/migration_guide/ for additional information.
+22:02:01 [rank=4] suite=libero_10 task_ids=[2, 3] n_trials=50 speed=1.5 max_steps=520
+22:02:01 Waiting for server at ws://localhost:8024...
+[info] using task orders [0, 1, 2, 3, 4, 5, 6, 7, 8, 9]
+
rank=4/libero_10:   0%|          | 0/2 [00:00<?, ?it/s]
rank=4/libero_10:  50%|█████     | 1/2 [09:11<09:11, 551.41s/it]
rank=4/libero_10: 100%|██████████| 2/2 [17:30<00:00, 520.40s/it]
rank=4/libero_10: 100%|██████████| 2/2 [17:30<00:00, 525.06s/it]
+[Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
+[Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
+[Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
+[Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
+[rank=4] libero_10 speed=1.5x  success=99/100 (99.0%)  mean_steps_success=174.9 median=172.0  mean_steps_failure=520.0  mean_steps_all=178.3
+[rank=4] elapsed=1050.1s
+[rank=4] wrote /robby/share/Robotics/zhangtianqi/code/VLAwithVariousSpeed/results/speed_embedding_ablation/0513_pi05_online_sliding_speed_embed_text_0p5_0p75_1p0_1p25_1p5_1p75_2p0/speed_1p5x/long_t2_3_1p5x.json
+Exception ignored in: <function MjRenderContext.__del__ at 0x7f55a4a9fb00>
+Traceback (most recent call last):
+  File "/usr/local/lib/python3.12/dist-packages/robosuite/utils/binding_utils.py", line 199, in __del__
+    self.gl_ctx.free()
+  File "/usr/local/lib/python3.12/dist-packages/robosuite/renderers/context/egl_context.py", line 149, in free
+    EGL.eglMakeCurrent(EGL_DISPLAY, EGL.EGL_NO_SURFACE, EGL.EGL_NO_SURFACE, EGL.EGL_NO_CONTEXT)
+  File "/usr/local/lib/python3.12/dist-packages/OpenGL/error.py", line 230, in glCheckError
+    raise self._errorClass(
+OpenGL.raw.EGL._errors.EGLError: 22:19:32 Failed to load library ( 'libGLU.so.0' ): libGLU.so.0: cannot open shared object file: No such file or directory
+EGLError(
+	err = EGL_NOT_INITIALIZED,
+	baseOperation = eglMakeCurrent,
+	cArguments = (
+		<OpenGL._opaque.EGLDisplay_pointer object at 0x7f558a1b68d0>,
+		<OpenGL._opaque.EGLSurface_pointer object at 0x7f55a4a740d0>,
+		<OpenGL._opaque.EGLSurface_pointer object at 0x7f55a4a740d0>,
+		<OpenGL._opaque.EGLContext_pointer object at 0x7f55a4a35050>,
+	),
+	result = 0
+)
+Exception ignored in: <function EGLGLContext.__del__ at 0x7f55a4a9f9c0>
+Traceback (most recent call last):
+  File "/usr/local/lib/python3.12/dist-packages/robosuite/renderers/context/egl_context.py", line 155, in __del__
+    self.free()
+  File "/usr/local/lib/python3.12/dist-packages/robosuite/renderers/context/egl_context.py", line 149, in free
+    EGL.eglMakeCurrent(EGL_DISPLAY, EGL.EGL_NO_SURFACE, EGL.EGL_NO_SURFACE, EGL.EGL_NO_CONTEXT)
+  File "/usr/local/lib/python3.12/dist-packages/OpenGL/error.py", line 230, in glCheckError
+    raise self._errorClass(
+OpenGL.raw.EGL._errors.EGLError: EGLError(
+	err = EGL_NOT_INITIALIZED,
+	baseOperation = eglMakeCurrent,
+	cArguments = (
+		<OpenGL._opaque.EGLDisplay_pointer object at 0x7f558a1b68d0>,
+		<OpenGL._opaque.EGLSurface_pointer object at 0x7f55a4a740d0>,
+		<OpenGL._opaque.EGLSurface_pointer object at 0x7f55a4a740d0>,
+		<OpenGL._opaque.EGLContext_pointer object at 0x7f55a4a35050>,
+	),
+	result = 0
+)
diff --git a/results/speed_embedding_ablation/0513_pi05_online_sliding_speed_embed_text_0p5_0p75_1p0_1p25_1p5_1p75_2p0/speed_1p5x/logs/long_t4_5_1p5x.log b/results/speed_embedding_ablation/0513_pi05_online_sliding_speed_embed_text_0p5_0p75_1p0_1p25_1p5_1p75_2p0/speed_1p5x/logs/long_t4_5_1p5x.log
new file mode 100644
index 0000000000000000000000000000000000000000..6d1936f4a396bb8947a97e705287bc4b3b5bed9c
--- /dev/null
+++ b/results/speed_embedding_ablation/0513_pi05_online_sliding_speed_embed_text_0p5_0p75_1p0_1p25_1p5_1p75_2p0/speed_1p5x/logs/long_t4_5_1p5x.log
@@ -0,0 +1,56 @@
+[robosuite WARNING] No private macro file found! (macros.py:53)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:54)
+[robosuite WARNING] To setup, run: python /usr/local/lib/python3.12/dist-packages/robosuite/scripts/setup_macros.py (macros.py:55)
+Gym has been unmaintained since 2022 and does not support NumPy 2.0 amongst other critical functionality.
+Please upgrade to Gymnasium, the maintained drop-in replacement of Gym, or contact the authors of your software and request that they upgrade.
+See the migration guide at https://gymnasium.farama.org/introduction/migration_guide/ for additional information.
+22:02:01 [rank=5] suite=libero_10 task_ids=[4, 5] n_trials=50 speed=1.5 max_steps=520
+22:02:01 Waiting for server at ws://localhost:8025...
+[info] using task orders [0, 1, 2, 3, 4, 5, 6, 7, 8, 9]
+
rank=5/libero_10:   0%|          | 0/2 [00:00<?, ?it/s]
rank=5/libero_10:  50%|█████     | 1/2 [08:48<08:48, 528.51s/it]
rank=5/libero_10: 100%|██████████| 2/2 [14:46<00:00, 428.15s/it]
rank=5/libero_10: 100%|██████████| 2/2 [14:46<00:00, 443.21s/it]
+[Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
+[Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
+[Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
+[Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
+[rank=5] libero_10 speed=1.5x  success=100/100 (100.0%)  mean_steps_success=149.2 median=155.0  mean_steps_failure=nan  mean_steps_all=149.2
+[rank=5] elapsed=886.4s
+[rank=5] wrote /robby/share/Robotics/zhangtianqi/code/VLAwithVariousSpeed/results/speed_embedding_ablation/0513_pi05_online_sliding_speed_embed_text_0p5_0p75_1p0_1p25_1p5_1p75_2p0/speed_1p5x/long_t4_5_1p5x.json
+Exception ignored in: <function MjRenderContext.__del__ at 0x7f7da7197b00>
+Traceback (most recent call last):
+  File "/usr/local/lib/python3.12/dist-packages/robosuite/utils/binding_utils.py", line 199, in __del__
+    self.gl_ctx.free()
+  File "/usr/local/lib/python3.12/dist-packages/robosuite/renderers/context/egl_context.py", line 149, in free
+    EGL.eglMakeCurrent(EGL_DISPLAY, EGL.EGL_NO_SURFACE, EGL.EGL_NO_SURFACE, EGL.EGL_NO_CONTEXT)
+  File "/usr/local/lib/python3.12/dist-packages/OpenGL/error.py", line 230, in glCheckError
+    raise self._errorClass(
+OpenGL.raw.EGL._errors.EGLError: 22:16:48 Failed to load library ( 'libGLU.so.0' ): libGLU.so.0: cannot open shared object file: No such file or directory
+EGLError(
+	err = EGL_NOT_INITIALIZED,
+	baseOperation = eglMakeCurrent,
+	cArguments = (
+		<OpenGL._opaque.EGLDisplay_pointer object at 0x7f7d8c8b21d0>,
+		<OpenGL._opaque.EGLSurface_pointer object at 0x7f7da716c0d0>,
+		<OpenGL._opaque.EGLSurface_pointer object at 0x7f7da716c0d0>,
+		<OpenGL._opaque.EGLContext_pointer object at 0x7f7da712d050>,
+	),
+	result = 0
+)
+Exception ignored in: <function EGLGLContext.__del__ at 0x7f7da71979c0>
+Traceback (most recent call last):
+  File "/usr/local/lib/python3.12/dist-packages/robosuite/renderers/context/egl_context.py", line 155, in __del__
+    self.free()
+  File "/usr/local/lib/python3.12/dist-packages/robosuite/renderers/context/egl_context.py", line 149, in free
+    EGL.eglMakeCurrent(EGL_DISPLAY, EGL.EGL_NO_SURFACE, EGL.EGL_NO_SURFACE, EGL.EGL_NO_CONTEXT)
+  File "/usr/local/lib/python3.12/dist-packages/OpenGL/error.py", line 230, in glCheckError
+    raise self._errorClass(
+OpenGL.raw.EGL._errors.EGLError: EGLError(
+	err = EGL_NOT_INITIALIZED,
+	baseOperation = eglMakeCurrent,
+	cArguments = (
+		<OpenGL._opaque.EGLDisplay_pointer object at 0x7f7d8c8b21d0>,
+		<OpenGL._opaque.EGLSurface_pointer object at 0x7f7da716c0d0>,
+		<OpenGL._opaque.EGLSurface_pointer object at 0x7f7da716c0d0>,
+		<OpenGL._opaque.EGLContext_pointer object at 0x7f7da712d050>,
+	),
+	result = 0
+)
diff --git a/results/speed_embedding_ablation/0513_pi05_online_sliding_speed_embed_text_0p5_0p75_1p0_1p25_1p5_1p75_2p0/speed_1p5x/logs/long_t6_7_1p5x.log b/results/speed_embedding_ablation/0513_pi05_online_sliding_speed_embed_text_0p5_0p75_1p0_1p25_1p5_1p75_2p0/speed_1p5x/logs/long_t6_7_1p5x.log
new file mode 100644
index 0000000000000000000000000000000000000000..c7f94efd895b90fd39b48038f4df12e4e1bd6ab1
--- /dev/null
+++ b/results/speed_embedding_ablation/0513_pi05_online_sliding_speed_embed_text_0p5_0p75_1p0_1p25_1p5_1p75_2p0/speed_1p5x/logs/long_t6_7_1p5x.log
@@ -0,0 +1,56 @@
+[robosuite WARNING] No private macro file found! (macros.py:53)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:54)
+[robosuite WARNING] To setup, run: python /usr/local/lib/python3.12/dist-packages/robosuite/scripts/setup_macros.py (macros.py:55)
+Gym has been unmaintained since 2022 and does not support NumPy 2.0 amongst other critical functionality.
+Please upgrade to Gymnasium, the maintained drop-in replacement of Gym, or contact the authors of your software and request that they upgrade.
+See the migration guide at https://gymnasium.farama.org/introduction/migration_guide/ for additional information.
+22:02:01 [rank=6] suite=libero_10 task_ids=[6, 7] n_trials=50 speed=1.5 max_steps=520
+22:02:01 Waiting for server at ws://localhost:8026...
+[info] using task orders [0, 1, 2, 3, 4, 5, 6, 7, 8, 9]
+
rank=6/libero_10:   0%|          | 0/2 [00:00<?, ?it/s]
rank=6/libero_10:  50%|█████     | 1/2 [09:37<09:37, 577.60s/it]
rank=6/libero_10: 100%|██████████| 2/2 [20:07<00:00, 608.25s/it]
rank=6/libero_10: 100%|██████████| 2/2 [20:07<00:00, 603.65s/it]
+[Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
+[Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
+[Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
+[Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
+[rank=6] libero_10 speed=1.5x  success=96/100 (96.0%)  mean_steps_success=195.5 median=186.0  mean_steps_failure=520.0  mean_steps_all=208.5
+[rank=6] elapsed=1207.3s
+[rank=6] wrote /robby/share/Robotics/zhangtianqi/code/VLAwithVariousSpeed/results/speed_embedding_ablation/0513_pi05_online_sliding_speed_embed_text_0p5_0p75_1p0_1p25_1p5_1p75_2p0/speed_1p5x/long_t6_7_1p5x.json
+Exception ignored in: <function MjRenderContext.__del__ at 0x7f555f59fb00>
+Traceback (most recent call last):
+  File "/usr/local/lib/python3.12/dist-packages/robosuite/utils/binding_utils.py", line 199, in __del__
+    self.gl_ctx.free()
+  File "/usr/local/lib/python3.12/dist-packages/robosuite/renderers/context/egl_context.py", line 149, in free
+    EGL.eglMakeCurrent(EGL_DISPLAY, EGL.EGL_NO_SURFACE, EGL.EGL_NO_SURFACE, EGL.EGL_NO_CONTEXT)
+  File "/usr/local/lib/python3.12/dist-packages/OpenGL/error.py", line 230, in glCheckError
+    raise self._errorClass(
+OpenGL.raw.EGL._errors.EGLError: 22:22:09 Failed to load library ( 'libGLU.so.0' ): libGLU.so.0: cannot open shared object file: No such file or directory
+EGLError(
+	err = EGL_NOT_INITIALIZED,
+	baseOperation = eglMakeCurrent,
+	cArguments = (
+		<OpenGL._opaque.EGLDisplay_pointer object at 0x7f5544cb9b50>,
+		<OpenGL._opaque.EGLSurface_pointer object at 0x7f555f5740d0>,
+		<OpenGL._opaque.EGLSurface_pointer object at 0x7f555f5740d0>,
+		<OpenGL._opaque.EGLContext_pointer object at 0x7f555f535050>,
+	),
+	result = 0
+)
+Exception ignored in: <function EGLGLContext.__del__ at 0x7f555f59f9c0>
+Traceback (most recent call last):
+  File "/usr/local/lib/python3.12/dist-packages/robosuite/renderers/context/egl_context.py", line 155, in __del__
+    self.free()
+  File "/usr/local/lib/python3.12/dist-packages/robosuite/renderers/context/egl_context.py", line 149, in free
+    EGL.eglMakeCurrent(EGL_DISPLAY, EGL.EGL_NO_SURFACE, EGL.EGL_NO_SURFACE, EGL.EGL_NO_CONTEXT)
+  File "/usr/local/lib/python3.12/dist-packages/OpenGL/error.py", line 230, in glCheckError
+    raise self._errorClass(
+OpenGL.raw.EGL._errors.EGLError: EGLError(
+	err = EGL_NOT_INITIALIZED,
+	baseOperation = eglMakeCurrent,
+	cArguments = (
+		<OpenGL._opaque.EGLDisplay_pointer object at 0x7f5544cb9b50>,
+		<OpenGL._opaque.EGLSurface_pointer object at 0x7f555f5740d0>,
+		<OpenGL._opaque.EGLSurface_pointer object at 0x7f555f5740d0>,
+		<OpenGL._opaque.EGLContext_pointer object at 0x7f555f535050>,
+	),
+	result = 0
+)
diff --git a/results/speed_embedding_ablation/0513_pi05_online_sliding_speed_embed_text_0p5_0p75_1p0_1p25_1p5_1p75_2p0/speed_1p5x/logs/long_t8_9_1p5x.log b/results/speed_embedding_ablation/0513_pi05_online_sliding_speed_embed_text_0p5_0p75_1p0_1p25_1p5_1p75_2p0/speed_1p5x/logs/long_t8_9_1p5x.log
new file mode 100644
index 0000000000000000000000000000000000000000..ab21c27aba02a3387343a022522bdc06c44e7439
--- /dev/null
+++ b/results/speed_embedding_ablation/0513_pi05_online_sliding_speed_embed_text_0p5_0p75_1p0_1p25_1p5_1p75_2p0/speed_1p5x/logs/long_t8_9_1p5x.log
@@ -0,0 +1,56 @@
+[robosuite WARNING] No private macro file found! (macros.py:53)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:54)
+[robosuite WARNING] To setup, run: python /usr/local/lib/python3.12/dist-packages/robosuite/scripts/setup_macros.py (macros.py:55)
+Gym has been unmaintained since 2022 and does not support NumPy 2.0 amongst other critical functionality.
+Please upgrade to Gymnasium, the maintained drop-in replacement of Gym, or contact the authors of your software and request that they upgrade.
+See the migration guide at https://gymnasium.farama.org/introduction/migration_guide/ for additional information.
+22:02:01 [rank=7] suite=libero_10 task_ids=[8, 9] n_trials=50 speed=1.5 max_steps=520
+22:02:01 Waiting for server at ws://localhost:8027...
+[info] using task orders [0, 1, 2, 3, 4, 5, 6, 7, 8, 9]
+
rank=7/libero_10:   0%|          | 0/2 [00:00<?, ?it/s]
rank=7/libero_10:  50%|█████     | 1/2 [17:31<17:31, 1051.22s/it]
rank=7/libero_10: 100%|██████████| 2/2 [28:27<00:00, 819.07s/it] 
rank=7/libero_10: 100%|██████████| 2/2 [28:27<00:00, 853.89s/it]
+[Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
+[Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
+[Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
+[Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
+[rank=7] libero_10 speed=1.5x  success=86/100 (86.0%)  mean_steps_success=262.9 median=250.0  mean_steps_failure=520.0  mean_steps_all=298.9
+[rank=7] elapsed=1707.8s
+[rank=7] wrote /robby/share/Robotics/zhangtianqi/code/VLAwithVariousSpeed/results/speed_embedding_ablation/0513_pi05_online_sliding_speed_embed_text_0p5_0p75_1p0_1p25_1p5_1p75_2p0/speed_1p5x/long_t8_9_1p5x.json
+Exception ignored in: <function MjRenderContext.__del__ at 0x7f802599fb00>
+Traceback (most recent call last):
+  File "/usr/local/lib/python3.12/dist-packages/robosuite/utils/binding_utils.py", line 199, in __del__
+    self.gl_ctx.free()
+  File "/usr/local/lib/python3.12/dist-packages/robosuite/renderers/context/egl_context.py", line 149, in free
+    EGL.eglMakeCurrent(EGL_DISPLAY, EGL.EGL_NO_SURFACE, EGL.EGL_NO_SURFACE, EGL.EGL_NO_CONTEXT)
+  File "/usr/local/lib/python3.12/dist-packages/OpenGL/error.py", line 230, in glCheckError
+    raise self._errorClass(
+OpenGL.raw.EGL._errors.EGLError: 22:30:29 Failed to load library ( 'libGLU.so.0' ): libGLU.so.0: cannot open shared object file: No such file or directory
+EGLError(
+	err = EGL_NOT_INITIALIZED,
+	baseOperation = eglMakeCurrent,
+	cArguments = (
+		<OpenGL._opaque.EGLDisplay_pointer object at 0x7f800b0bebd0>,
+		<OpenGL._opaque.EGLSurface_pointer object at 0x7f80259740d0>,
+		<OpenGL._opaque.EGLSurface_pointer object at 0x7f80259740d0>,
+		<OpenGL._opaque.EGLContext_pointer object at 0x7f8025935050>,
+	),
+	result = 0
+)
+Exception ignored in: <function EGLGLContext.__del__ at 0x7f802599f9c0>
+Traceback (most recent call last):
+  File "/usr/local/lib/python3.12/dist-packages/robosuite/renderers/context/egl_context.py", line 155, in __del__
+    self.free()
+  File "/usr/local/lib/python3.12/dist-packages/robosuite/renderers/context/egl_context.py", line 149, in free
+    EGL.eglMakeCurrent(EGL_DISPLAY, EGL.EGL_NO_SURFACE, EGL.EGL_NO_SURFACE, EGL.EGL_NO_CONTEXT)
+  File "/usr/local/lib/python3.12/dist-packages/OpenGL/error.py", line 230, in glCheckError
+    raise self._errorClass(
+OpenGL.raw.EGL._errors.EGLError: EGLError(
+	err = EGL_NOT_INITIALIZED,
+	baseOperation = eglMakeCurrent,
+	cArguments = (
+		<OpenGL._opaque.EGLDisplay_pointer object at 0x7f800b0bebd0>,
+		<OpenGL._opaque.EGLSurface_pointer object at 0x7f80259740d0>,
+		<OpenGL._opaque.EGLSurface_pointer object at 0x7f80259740d0>,
+		<OpenGL._opaque.EGLContext_pointer object at 0x7f8025935050>,
+	),
+	result = 0
+)
diff --git a/results/speed_embedding_ablation/0513_pi05_online_sliding_speed_embed_text_0p5_0p75_1p0_1p25_1p5_1p75_2p0/speed_1p5x/logs/object_1p5x.log b/results/speed_embedding_ablation/0513_pi05_online_sliding_speed_embed_text_0p5_0p75_1p0_1p25_1p5_1p75_2p0/speed_1p5x/logs/object_1p5x.log
new file mode 100644
index 0000000000000000000000000000000000000000..58bbd02b9347967d0d7a3aaa329a4fcf5baa4af0
--- /dev/null
+++ b/results/speed_embedding_ablation/0513_pi05_online_sliding_speed_embed_text_0p5_0p75_1p0_1p25_1p5_1p75_2p0/speed_1p5x/logs/object_1p5x.log
@@ -0,0 +1,72 @@
+[robosuite WARNING] No private macro file found! (macros.py:53)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:54)
+[robosuite WARNING] To setup, run: python /usr/local/lib/python3.12/dist-packages/robosuite/scripts/setup_macros.py (macros.py:55)
+Gym has been unmaintained since 2022 and does not support NumPy 2.0 amongst other critical functionality.
+Please upgrade to Gymnasium, the maintained drop-in replacement of Gym, or contact the authors of your software and request that they upgrade.
+See the migration guide at https://gymnasium.farama.org/introduction/migration_guide/ for additional information.
+22:02:01 [rank=2] suite=libero_object task_ids=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9] n_trials=50 speed=1.5 max_steps=280
+22:02:01 Waiting for server at ws://localhost:8022...
+[info] using task orders [0, 1, 2, 3, 4, 5, 6, 7, 8, 9]
+
rank=2/libero_object:   0%|          | 0/10 [00:00<?, ?it/s]
rank=2/libero_object:  10%|█         | 1/10 [08:15<1:14:22, 495.86s/it]
rank=2/libero_object:  20%|██        | 2/10 [13:32<52:03, 390.41s/it]  
rank=2/libero_object:  30%|███       | 3/10 [18:33<40:46, 349.55s/it]
rank=2/libero_object:  40%|████      | 4/10 [24:00<34:04, 340.80s/it]
rank=2/libero_object:  50%|█████     | 5/10 [29:51<28:42, 344.49s/it]
rank=2/libero_object:  60%|██████    | 6/10 [35:29<22:49, 342.33s/it]
rank=2/libero_object:  70%|███████   | 7/10 [42:02<17:56, 358.78s/it]
rank=2/libero_object:  80%|████████  | 8/10 [47:29<11:37, 348.73s/it]
rank=2/libero_object:  90%|█████████ | 9/10 [54:13<06:05, 365.97s/it]
rank=2/libero_object: 100%|██████████| 10/10 [59:04<00:00, 342.81s/it]
rank=2/libero_object: 100%|██████████| 10/10 [59:04<00:00, 354.46s/it]
+[Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
+[Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
+[Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
+[Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
+[Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
+[Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
+[Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
+[Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
+[Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
+[Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
+[Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
+[Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
+[Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
+[Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
+[Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
+[Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
+[Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
+[Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
+[Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
+[Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
+[rank=2] libero_object speed=1.5x  success=491/500 (98.2%)  mean_steps_success=110.6 median=105.0  mean_steps_failure=280.0  mean_steps_all=113.7
+[rank=2] elapsed=3544.6s
+[rank=2] wrote /robby/share/Robotics/zhangtianqi/code/VLAwithVariousSpeed/results/speed_embedding_ablation/0513_pi05_online_sliding_speed_embed_text_0p5_0p75_1p0_1p25_1p5_1p75_2p0/speed_1p5x/object_1p5x.json
+Exception ignored in: <function MjRenderContext.__del__ at 0x7f0e52797b00>
+Traceback (most recent call last):
+  File "/usr/local/lib/python3.12/dist-packages/robosuite/utils/binding_utils.py", line 199, in __del__
+    self.gl_ctx.free()
+  File "/usr/local/lib/python3.12/dist-packages/robosuite/renderers/context/egl_context.py", line 149, in free
+    EGL.eglMakeCurrent(EGL_DISPLAY, EGL.EGL_NO_SURFACE, EGL.EGL_NO_SURFACE, EGL.EGL_NO_CONTEXT)
+  File "/usr/local/lib/python3.12/dist-packages/OpenGL/error.py", line 230, in glCheckError
+    raise self._errorClass(
+OpenGL.raw.EGL._errors.EGLError: 23:01:06 Failed to load library ( 'libGLU.so.0' ): libGLU.so.0: cannot open shared object file: No such file or directory
+EGLError(
+	err = EGL_NOT_INITIALIZED,
+	baseOperation = eglMakeCurrent,
+	cArguments = (
+		<OpenGL._opaque.EGLDisplay_pointer object at 0x7f0e37eb2150>,
+		<OpenGL._opaque.EGLSurface_pointer object at 0x7f0e5276c0d0>,
+		<OpenGL._opaque.EGLSurface_pointer object at 0x7f0e5276c0d0>,
+		<OpenGL._opaque.EGLContext_pointer object at 0x7f0e5272d050>,
+	),
+	result = 0
+)
+Exception ignored in: <function EGLGLContext.__del__ at 0x7f0e527979c0>
+Traceback (most recent call last):
+  File "/usr/local/lib/python3.12/dist-packages/robosuite/renderers/context/egl_context.py", line 155, in __del__
+    self.free()
+  File "/usr/local/lib/python3.12/dist-packages/robosuite/renderers/context/egl_context.py", line 149, in free
+    EGL.eglMakeCurrent(EGL_DISPLAY, EGL.EGL_NO_SURFACE, EGL.EGL_NO_SURFACE, EGL.EGL_NO_CONTEXT)
+  File "/usr/local/lib/python3.12/dist-packages/OpenGL/error.py", line 230, in glCheckError
+    raise self._errorClass(
+OpenGL.raw.EGL._errors.EGLError: EGLError(
+	err = EGL_NOT_INITIALIZED,
+	baseOperation = eglMakeCurrent,
+	cArguments = (
+		<OpenGL._opaque.EGLDisplay_pointer object at 0x7f0e37eb2150>,
+		<OpenGL._opaque.EGLSurface_pointer object at 0x7f0e5276c0d0>,
+		<OpenGL._opaque.EGLSurface_pointer object at 0x7f0e5276c0d0>,
+		<OpenGL._opaque.EGLContext_pointer object at 0x7f0e5272d050>,
+	),
+	result = 0
+)
diff --git a/results/speed_embedding_ablation/0513_pi05_online_sliding_speed_embed_text_0p5_0p75_1p0_1p25_1p5_1p75_2p0/speed_1p5x/logs/spatial_1p5x.log b/results/speed_embedding_ablation/0513_pi05_online_sliding_speed_embed_text_0p5_0p75_1p0_1p25_1p5_1p75_2p0/speed_1p5x/logs/spatial_1p5x.log
new file mode 100644
index 0000000000000000000000000000000000000000..09fc4fdc34ca963a509805f083991c87e4bcd8a5
--- /dev/null
+++ b/results/speed_embedding_ablation/0513_pi05_online_sliding_speed_embed_text_0p5_0p75_1p0_1p25_1p5_1p75_2p0/speed_1p5x/logs/spatial_1p5x.log
@@ -0,0 +1,72 @@
+[robosuite WARNING] No private macro file found! (macros.py:53)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:54)
+[robosuite WARNING] To setup, run: python /usr/local/lib/python3.12/dist-packages/robosuite/scripts/setup_macros.py (macros.py:55)
+Gym has been unmaintained since 2022 and does not support NumPy 2.0 amongst other critical functionality.
+Please upgrade to Gymnasium, the maintained drop-in replacement of Gym, or contact the authors of your software and request that they upgrade.
+See the migration guide at https://gymnasium.farama.org/introduction/migration_guide/ for additional information.
+22:02:01 [rank=0] suite=libero_spatial task_ids=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9] n_trials=50 speed=1.5 max_steps=220
+22:02:01 Waiting for server at ws://localhost:8020...
+[info] using task orders [0, 1, 2, 3, 4, 5, 6, 7, 8, 9]
+
rank=0/libero_spatial:   0%|          | 0/10 [00:00<?, ?it/s]
rank=0/libero_spatial:  10%|█         | 1/10 [04:32<40:49, 272.22s/it]
rank=0/libero_spatial:  20%|██        | 2/10 [10:13<41:44, 313.12s/it]
rank=0/libero_spatial:  30%|███       | 3/10 [15:15<35:55, 307.89s/it]
rank=0/libero_spatial:  40%|████      | 4/10 [20:05<30:04, 300.72s/it]
rank=0/libero_spatial:  50%|█████     | 5/10 [26:34<27:42, 332.57s/it]
rank=0/libero_spatial:  60%|██████    | 6/10 [31:42<21:36, 324.17s/it]
rank=0/libero_spatial:  70%|███████   | 7/10 [36:44<15:50, 316.85s/it]
rank=0/libero_spatial:  80%|████████  | 8/10 [42:22<10:47, 323.86s/it]
rank=0/libero_spatial:  90%|█████████ | 9/10 [47:03<05:10, 310.39s/it]
rank=0/libero_spatial: 100%|██████████| 10/10 [53:31<00:00, 334.36s/it]
rank=0/libero_spatial: 100%|██████████| 10/10 [53:31<00:00, 321.17s/it]
+[Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
+[Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
+[Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
+[Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
+[Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
+[Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
+[Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
+[Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
+[Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
+[Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
+[Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
+[Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
+[Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
+[Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
+[Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
+[Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
+[Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
+[Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
+[Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
+[Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
+[rank=0] libero_spatial speed=1.5x  success=494/500 (98.8%)  mean_steps_success=81.9 median=79.0  mean_steps_failure=220.0  mean_steps_all=83.6
+[rank=0] elapsed=3211.7s
+[rank=0] wrote /robby/share/Robotics/zhangtianqi/code/VLAwithVariousSpeed/results/speed_embedding_ablation/0513_pi05_online_sliding_speed_embed_text_0p5_0p75_1p0_1p25_1p5_1p75_2p0/speed_1p5x/spatial_1p5x.json
+Exception ignored in: <function MjRenderContext.__del__ at 0x7f7372da3b00>
+Traceback (most recent call last):
+  File "/usr/local/lib/python3.12/dist-packages/robosuite/utils/binding_utils.py", line 199, in __del__
+    self.gl_ctx.free()
+  File "/usr/local/lib/python3.12/dist-packages/robosuite/renderers/context/egl_context.py", line 149, in free
+    EGL.eglMakeCurrent(EGL_DISPLAY, EGL.EGL_NO_SURFACE, EGL.EGL_NO_SURFACE, EGL.EGL_NO_CONTEXT)
+  File "/usr/local/lib/python3.12/dist-packages/OpenGL/error.py", line 230, in glCheckError
+    raise self._errorClass(
+OpenGL.raw.EGL._errors.EGLError: 22:55:33 Failed to load library ( 'libGLU.so.0' ): libGLU.so.0: cannot open shared object file: No such file or directory
+EGLError(
+	err = EGL_NOT_INITIALIZED,
+	baseOperation = eglMakeCurrent,
+	cArguments = (
+		<OpenGL._opaque.EGLDisplay_pointer object at 0x7f73584d0d50>,
+		<OpenGL._opaque.EGLSurface_pointer object at 0x7f7372d780d0>,
+		<OpenGL._opaque.EGLSurface_pointer object at 0x7f7372d780d0>,
+		<OpenGL._opaque.EGLContext_pointer object at 0x7f7372d39050>,
+	),
+	result = 0
+)
+Exception ignored in: <function EGLGLContext.__del__ at 0x7f7372da39c0>
+Traceback (most recent call last):
+  File "/usr/local/lib/python3.12/dist-packages/robosuite/renderers/context/egl_context.py", line 155, in __del__
+    self.free()
+  File "/usr/local/lib/python3.12/dist-packages/robosuite/renderers/context/egl_context.py", line 149, in free
+    EGL.eglMakeCurrent(EGL_DISPLAY, EGL.EGL_NO_SURFACE, EGL.EGL_NO_SURFACE, EGL.EGL_NO_CONTEXT)
+  File "/usr/local/lib/python3.12/dist-packages/OpenGL/error.py", line 230, in glCheckError
+    raise self._errorClass(
+OpenGL.raw.EGL._errors.EGLError: EGLError(
+	err = EGL_NOT_INITIALIZED,
+	baseOperation = eglMakeCurrent,
+	cArguments = (
+		<OpenGL._opaque.EGLDisplay_pointer object at 0x7f73584d0d50>,
+		<OpenGL._opaque.EGLSurface_pointer object at 0x7f7372d780d0>,
+		<OpenGL._opaque.EGLSurface_pointer object at 0x7f7372d780d0>,
+		<OpenGL._opaque.EGLContext_pointer object at 0x7f7372d39050>,
+	),
+	result = 0
+)
diff --git a/results/speed_embedding_ablation/0513_pi05_online_sliding_speed_embed_text_0p5_0p75_1p0_1p25_1p5_1p75_2p0/speed_1p5x/videos/goal_1p5x/rank1_libero_goal_speed1p5x_t00_e00_success.mp4 b/results/speed_embedding_ablation/0513_pi05_online_sliding_speed_embed_text_0p5_0p75_1p0_1p25_1p5_1p75_2p0/speed_1p5x/videos/goal_1p5x/rank1_libero_goal_speed1p5x_t00_e00_success.mp4
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